Observer-based adaptive neural tracking control for output-constrained switched MIMO nonstrict-feedback nonlinear systems with unknown dead zone

Abstract

In this paper, the issue of adaptive neural tracking control for uncertain switched multi-input multi-output (MIMO) nonstrict-feedback nonlinear systems with average dwell time is studied. The system under consideration includes unknown dead-zone inputs and output constraints. The uncertain nonlinear functions are identified via neural networks. Also, neural networks-based switched observer is constructed to approximate all unmeasurable states. By means of the information for dead-zone slopes and barrier Lyapunov function (BLF), the problems of dead-zone inputs and output constraints are tackled. Furthermore, dynamic surface control (DSC) scheme is employed to ensure that the computation burden is greatly reduced. Then, an observer-based adaptive neural control strategy is developed on the basis of backstepping technique and multiple Lyapunov functions approach. Under the designed controller, all the signals existing in switched closed-loop system are bounded, and system outputs can track the target trajectories within small bounded errors. Finally, the feasibility of the presented control algorithm is proved via simulation results.